Download

Abstract

In this chapter, we present the main research contributions of our champion CMUnited-98
small robot team. The team is a multiagent robotic system with global perception, and distributed
cognition and action. We describe the main features of the hardware design of the physical
robots, including differential drive, robust mechanical structure, and a kicking device.
We briefly review the CMUnited-98 global vision processing algorithm, which is the same
as the one used by the previous champion CMUnited-97 team. We introduce our new robot motion
algorithm which reactively generates motion control to account for the target point, the desired robot
orientation, and obstacle avoidance. Our robots exhibit successful collision-free motion in
the highly dynamic robotic soccer environment. At the strategic and decision-making level,
we present the role-based behaviors of the CMUnited-98 robotic agents. Team collaboration
is remarkably achieved through a new algorithm that allows for team agents to anticipate
possible collaboration opportunities. Robots position themselves strategically in open positions
that increase passing opportunities. The chapter terminates with a summary of the results
of the RoboCup-98 games in which the CMUnited-98 small robot team scored a total of 25 goals
and suffered 6 goals in the 5 games that it played.

BibTeX Entry

@InCollection(LNAI98-robot,
Author="Manuela Veloso and Michael Bowling and Sorin Achim and Kwun Han and Peter Stone",
Title="The {CMU}nited-98 Champion Small Robot Team",
booktitle= "{R}obo{C}up-98: Robot Soccer World Cup {II}",
Editor="Minoru Asada and Hiroaki Kitano",
series="Lecture Notes in Artificial Intelligence",
volume="1604",
pages="77--92",
Publisher="Springer Verlag",address="Berlin",year="1999",
abstract={
In this chapter, we present the main research
contributions of our champion CMUnited-98 small
robot team. The team is a multiagent robotic system
with global perception, and distributed cognition
and action. We describe the main features of the
hardware design of the physical robots, including
differential drive, robust mechanical structure, and
a kicking device. We briefly review the CMUnited-98
global vision processing algorithm, which is the
same as the one used by the previous champion
CMUnited-97 team. We introduce our new robot motion
algorithm which reactively generates motion control
to account for the target point, the desired robot
orientation, and obstacle avoidance. Our robots
exhibit successful collision-free motion in the
highly dynamic robotic soccer environment. At the
strategic and decision-making level, we present the
role-based behaviors of the CMUnited-98 robotic
agents. Team collaboration is remarkably achieved
through a new algorithm that allows for team agents
to anticipate possible collaboration
opportunities. Robots position themselves
strategically in open positions that increase
passing opportunities. The chapter terminates with
a summary of the results of the RoboCup-98 games in
which the CMUnited-98 small robot team scored a
total of 25 goals and suffered 6 goals in the 5
games that it played.
},
)